VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H<sub>&infin; </sub>CONTROL

Roberd Saragih; Dede Tarwidi

doi:10.22342/jims.14.2.52.73-82

Roberd Saragih ⁽¹⁾ , Dede Tarwidi ⁽²⁾

(1) Industrial Financial Mathematics Research Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung, Bandung,, Indonesia,

(2) Industrial Mathematics and Finance Research Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung, Indonesia

https://doi.org/10.22342/jims.14.2.52.73-82

Issue
Volume 14 Number 2 (October 2008)

Submitted
May 10, 2012

Accepted
May 29, 2012

Published
June 2, 2012

Keywords:

vibration reduction, flexible manipulator, Timoshenko beam theory, Lagrange's formulation of dynamics.

No galleys available

Abstract

This paper is concerned with the vibration and position control of a single link flexible manipulator. Robot link manipulators are widely used in various industrial applications. It is desirable to build light weight flexible manipulators. Light flexible manipulators have a variety of applications, most significantly in space exploration,manufacturing automation, construction, mining, and hazardous operation. Timoshenko beam theory is used to derive mathematical model of a flexible manipulator. The dynamic equations of motion are obtained using the Lagrange's formulation of dynamics.The H∞ controller is designed for vibration and position control of the system. Simulations are presented and show that vibration and position control of a single flexible link can be controlled with the designed H∞ controller.

DOI : http://dx.doi.org/10.22342/jims.14.2.52.73-82

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Authors

Roberd Saragih

Industrial Financial Mathematics Research Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung, Bandung,

penulis@jims-a.org (Primary Contact)

Dede Tarwidi

Industrial Mathematics and Finance Research Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung

Saragih, R., & Tarwidi, D. (2012). VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H<sub>∞ </sub>CONTROL. Journal of the Indonesian Mathematical Society, 14(2), 73–82. https://doi.org/10.22342/jims.14.2.52.73-82